解决办法_打开realsense D435i报错：terminate called after throwing an instance of ‘rs2::invalid_value_error‘

很长时间没有使用笔记本打开realsense D435i相机，再次使用时发现不灵了，报错如下：

[ INFO] [1633692792.103425171]: Setting Dynamic reconfig parameters.
 08/10 19:33:12,131 WARNING [140467643610880] (types.cpp:78) hwmon command 0x7d( 0 0 0 0 ) failed (response -21= No data to return)
terminate called after throwing an instance of 'rs2::invalid_value_error'
  what():  hwmon command 0x7d( 0 0 0 0 ) failed (response -21= No data to return)
[camera/realsense2_camera_manager-2] process has died [pid 9929, exit code -6, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/ipsg/.ros/log/843ea48e-282b-11ec-95f0-646e69f48e3d/camera-realsense2_camera_manager-2.log].
log file: /home/ipsg/.ros/log/843ea48e-282b-11ec-95f0-646e69f48e3d/camera-realsense2_camera_manager-2*.log

怀疑应该是底层版本库的问题，解决该问题的办法朝着更新驱动版本进行。在能够打开该相机的电脑上测试发现，能够打开的驱动版本如下：

[ INFO] [1633747478.439432323]: RealSense ROS v2.2.15
[ INFO] [1633747478.439514903]: Built with LibRealSense v2.40.0
[ INFO] [1633747478.439577111]: Running with LibRealSense v2.40.0

而我的电脑上的LibRealSense版本为：2.31。应该就找到问题了，尝试安装2.40版本的底层驱动。

（1）下载源码驱动：

git clone https://github.com/IntelRealSense/librealsense
cd librealsense

（2）安装依赖项

sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
sudo apt-get install ros-kinetic-ddynamic-reconfigure

（3）Install Intel Realsense permission scripts located in librealsense source directory:

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 

（4）这边需要注意把realsense拔下来，Build and apply patched kernel modules for，根据不同的ubuntu版本安装：对于Ubuntu 14/16/18 LTS：

./scripts/patch-realsense-ubuntu-lts.sh
sudo dmesg | tail -n 50

这里可以看一下UVC是否安装成功了。
（5）基于cmake编译

mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install

-DBUILD_EXAMPLES=true 这个选项表示带演示和教程的。

（6）进入/librealsense/build/examples/capture，试一下效果

./rs-capture 

显示除深度图、彩色图和陀螺仪相关画面便安装成功！

（７）因重新安装了librealsense底层驱动，现对realsense-ros源码重新编译，直接catkin_make即可。编译成功之后，打开相机测试：

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud

添加展示项：PointCloud2,选择topic:camera/depth/color/points,
再将Fixed_frame设置为camera_link。然后就可以看到点云效果的展示。

至此以完成驱动的更新安装及测试，测试成功可用！

参考博客：
https://blog.csdn.net/Night___Raid/article/details/106122412